#ifndef _KINE_INTF_H_
#define _KINE_INTF_H_

#ifdef __cplusplus
extern "C" {
#endif

// @shixiaoli 待库更新后恢复
// void get_kine_lib_version();

// int kin_set_robot_series(int series);

// int kin_set_full_dh_com(int full_dh_com);

// /**
//  * @brief set the DH parameters
//  *
//  * @param dh array with 24 elements for DH parameters
//  * @return result of operation
//  */
// int kin_set_dh_param(double* dh);

// /**
//  * @brief set base offset
//  *
//  * @param app angle in degree, can be obtained from zuc interface
//  * @return result of operation
//  */
// int kin_set_base_offset(double* appang);

// /**
//  * @brief set tool offset
//  *
//  * @param tool_offset  array with 6 elemetns, x/y/z/a/b/c
//  * @return result of operation
//  */
// int kin_set_tool_offset(double* tool_offset);

// /**
//  * @brief set user offset
//  *
//  * @param user_offset  array with 6 elemetns, x/y/z/a/b/c
//  * @return result of operation
//  */
// int kin_set_user_offset(double* user_offset);

// /**
//  * @brief do forward kinematics
//  *
//  * @param joint array with 6 elements for joint position
//  * @param cartesian array with 6 elements for cartesian position
//  * @return result of operation
//  */
// int kin_forward(double* joint, double* cartesian);

// /**
//  * @brief do inverse kinematics
//  *
//  * @param cartesian array with 6 elements for cartesian position
//  * @param joint array with 6 elements for joint position
//  * @return result of operation, 0 for ok, non-zero for error
//  */
// int kin_inverse(double* cartesian, double* joint);

// int kin_set_robot_Arm_angle_fixed(double Arm_angle);

// int kin_set_dof_7_inv_type(int inv_type);

// int kin_set_num_joint(int num_joint);

// int kin_set_joint_offset_fix(double const * const joint_offset);

// int kin_set_joint_lim_Algo_param(double k, double alpha);

#ifdef __cplusplus
}
#endif

#endif
